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TRAVIS_OS_NAME
TRAVIS_PULL_REQUEST
BUILD_NAME
CC
CXX
SUDO
FROM ubuntu:bionic
RUN apt-get update -qq
RUN apt-get install -y \
build-essential \
clang \
cmake \
curl \
git \
libgl-dev \
libglu-dev \
libpython3-dev \
lsb-release \
pkg-config \
python3 \
python3-distutils \
software-properties-common \
sudo
FROM ubuntu:xenial
RUN apt-get update -qq
RUN apt-get install -y \
build-essential \
clang \
cmake \
curl \
git \
libgl-dev \
libglu-dev \
libpython3-dev \
lsb-release \
pkg-config \
python3 \
software-properties-common \
sudo
#!/usr/bin/env bash
set -ex
echo "CXX="$CXX
echo "CC="$CC
if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
$SUDO apt-get update
$SUDO apt-get install -y python3
$SUDO apt-get install -y python3-pip
$SUDO pip3 install -U wheel
$SUDO pip3 install -U setuptools
$SUDO python3 setup.py install
python3 examples/pybullet/unittests/unittests.py --verbose
python3 examples/pybullet/unittests/userDataTest.py --verbose
python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
fi
cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
make -j8
ctest -j8 --output-on-failure
# Build again with double precision
cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
make -j8
ctest -j8 --output-on-failure
# Build again with shared libraries
cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
make -j8
ctest -j8 --output-on-failure
$SUDO make install
language: cpp
os:
- linux
- osx
compiler:
- gcc
- clang
addons:
apt:
packages:
- python3
matrix:
include:
- os: linux
compiler: gcc
env:
- BUILD_NAME=TRUSTY_GCC
- SUDO=sudo
- os: linux
compiler: clang
env:
- BUILD_NAME=TRUSTY_CLANG
- SUDO=sudo
- os: linux
compiler: gcc
env:
- BUILD_NAME=XENIAL_GCC
- DOCKER_FILE="ubuntu-xenial"
services: docker
- os: linux
compiler: clang
env:
- BUILD_NAME=XENIAL_CLANG
- DOCKER_FILE="ubuntu-xenial"
services: docker
- os: linux
compiler: gcc
env:
- BUILD_NAME=BIONIC_GCC
- DOCKER_FILE="ubuntu-bionic"
services: docker
- os: linux
compiler: clang
env:
- BUILD_NAME=BIONIC_CLANG
- DOCKER_FILE="ubuntu-bionic"
services: docker
- os: osx
compiler: gcc
env:
- BUILD_NAME=OSX_GCC
- os: osx
compiler: clang
env:
- BUILD_NAME=OSX_CLANG
before_install:
- if [ -n "$DOCKER_FILE" ]; then
docker build -t "$DOCKER_FILE" -f ".ci/docker/$DOCKER_FILE" .;
docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name bullet-docker "$DOCKER_FILE";
fi
script:
- echo "CXX="$CXX
- echo "CC="$CC
- cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
- make -j8
- ctest -j8 --output-on-failure
# Build again with double precision
- cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
- make -j8
- ctest -j8 --output-on-failure
# Build again with shared libraries
- cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
- make -j8
- ctest -j8 --output-on-failure
- sudo make install
- if [ -n "$DOCKER_FILE" ]; then
docker exec bullet-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
else
'.ci/script.sh';
fi
......@@ -26,16 +26,16 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
IF (BULLET2_USE_THREAD_LOCKS)
OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
IF (BULLET2_MULTITHREADING)
OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
IF (MSVC)
OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
ENDIF (MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
ENDIF (BULLET2_MULTITHREADING)
IF(NOT WIN32)
......@@ -108,7 +108,7 @@ IF(MSVC)
IF (CMAKE_CL_64)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" OFF)
option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
IF (USE_MSVC_SSE)
......@@ -217,20 +217,23 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)
IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF ()
IF(USE_GRAPHICAL_BENCHMARK)
ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
IF(BULLET2_USE_THREAD_LOCKS)
IF(BULLET2_MULTITHREADING)
ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
IF (NOT MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF (NOT MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
IF (NOT WIN32)
LINK_LIBRARIES( pthread )
ENDIF (NOT WIN32)
ENDIF (BULLET2_MULTITHREADING)
IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
......@@ -313,7 +316,7 @@ IF(BUILD_PYBULLET)
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
IF(EXACT_PYTHON_VERSION)
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
ENDIF(EXACT_PYTHON_VERSION)
# first find the python interpreter
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
......
......@@ -2,16 +2,24 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
SET(BulletRobotics_SRCS
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
......@@ -59,10 +67,7 @@ SET(BulletRobotics_SRCS
../../examples/Utils/b3ReferenceFrameHelper.hpp
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
......@@ -93,8 +98,6 @@ SET(BulletRobotics_SRCS
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(BUILD_CLSOCKET)
......@@ -102,9 +105,6 @@ IF(BUILD_CLSOCKET)
ENDIF(BUILD_CLSOCKET)
IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
......@@ -120,6 +120,10 @@ ELSE(WIN32)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
IF(NOT APPLE)
LINK_LIBRARIES( pthread ${DL} )
ENDIF(NOT APPLE)
ENDIF(WIN32)
IF(BUILD_ENET)
......@@ -175,6 +179,8 @@ IF (INSTALL_EXTRA_LIBS)
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
DESTINATION include/bullet
)
INSTALL(TARGETS
......
project ("BulletRobotics")
language "C++"
kind "StaticLib"
includedirs {"../../src", "../../examples",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
initOpenGL()
initGlew()
includedirs {
"../../src",
"../../examples",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
"../ThirdPartyLibs/enet/include",
"../ThirdPartyLibs/clsocket/src",
}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end
if not _OPTIONS["no-enet"] then
includedirs {"../../examples/ThirdPartyLibs/enet/include"}
if os.is("Windows") then
-- targetextension {"dylib"}
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
end
if os.is("MacOSX") then
end
links {"enet"}
files {
"../../examples/SharedMemory/PhysicsClientUDP.cpp",
"../../examples/SharedMemory/PhysicsClientUDP.h",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
}
defines {"BT_ENABLE_ENET"}
end
if not _OPTIONS["no-clsocket"] then
includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
defines {"_LINUX"}
end
if os.is("MacOSX") then
defines {"_DARWIN"}
end
links {"clsocket"}
files {
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
"../../examples/SharedMemory/PhysicsClientTCP.h",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
}
defines {"BT_ENABLE_CLSOCKET"}
end
files {